Two-in-one screw locking machine and control method thereof

Abstract

The present application discloses a two-in-one screw locking machine and a control method thereof, the two-in-one screw locking machine comprising: a chassis, a workbench provided inside the chassis, a support frame provided on the surface of the workbench; a screw feeder comprising a vibrating mechanism and a fixed structure, an outlet provided on the side of the vibrating mechanism, the fixed structure comprising a rotating disk, a plurality of notches equidistantly provided on the side of the rotating disk, the notches of the rotating disk being aligned with the outlet of the vibrating mechanism; a screw locking assembly comprising a locking head and a detection structure, the locking head and the detection structure being connected to the support frame via a sliding assembly; a clamp comprising a first clamping part, a second clamping part and a movable part, the first clamping part being rotatably connected to the second clamping part, the side of the movable part being connected to the second clamping part via a guide rod, so that the second clamping part rotates around the connection between the first clamping part and the second clamping part. The present application effectively improves the stability and accuracy of screw supply, and has strong compatibility and can adapt to the assembly of different products.

Description

Technical Field

[0001] The present application relates to the technical field of screw machines, and in particular to a two-in-one screw locking machine and a control method thereof. Background Art

[0002] With the continuous development of industrial automation, especially in the manufacturing fields of electronic products, home appliances and automobiles, the demand for automation of screw locking operations has gradually increased. The existing manual screw locking method is not only inefficient, but also difficult to maintain consistent screw locking quality due to different operators, and is prone to problems such as screw loss and loose tightening. These problems are particularly prominent in large-scale production, seriously affecting production efficiency and product quality. Therefore, the research and development of automatic screw locking machines has become one of the key technologies to solve this problem. Although the existing automatic screw locking equipment has achieved the automation of the screw supply and locking process to a certain extent, it still faces challenges in efficiency, precision and flexibility in actual application, and urgently needs further optimization.

[0003] Existing automated screw locking machines generally use a screw stacking supply system, but this system cannot guarantee efficient and stable screw supply, especially when dealing with complex workpieces or screws of different specifications. This can easily lead to screw blockage or incorrect supply, thus affecting the operating efficiency of the production line. In addition, although some equipment on the market is equipped with automatic clamps and automatic locking structures, in actual operation, these systems lack flexibility and adaptability. Especially when it is necessary to handle screws of various specifications and workpieces of different sizes, the existing clamp structure is difficult to adjust quickly, resulting in loose clamping or inaccurate positioning, which directly affects the quality and accuracy of the locking operation. Therefore, how to improve the adaptability and accuracy of the equipment by optimizing the feeding and fixture design has become a key issue in the development of screw locking machine technology. Summary of the Invention

[0004] The purpose of this application is to provide a two-in-one screw locking machine and a control method thereof, so as to solve the technical problems of unstable feeding and difficult clamp adjustment of the existing screw locking machine, which affect the efficiency and accuracy of the automatic screw locking machine.

[0005] To achieve this goal, this application adopts the following technical solutions:

[0006] A two-in-one screw locking machine, comprising:

[0007] A chassis, wherein a workbench is provided inside the chassis, and a support frame is provided on the surface of the workbench;

[0008] A screw feeder is provided on the side of the workbench and includes a vibrating mechanism and a fixed structure. An outlet is provided on the side of the vibrating mechanism. The fixed structure includes a rotating disk. A plurality of notches are equidistantly provided on the side of the rotating disk. The notches of the rotating disk are aligned with the outlet of the vibrating mechanism. The notches of the rotating disk are used to position the screws output from the outlet of the vibrating mechanism.

[0009] A screw locking assembly, comprising a locking head and a detection structure, wherein the locking head is fixedly connected to the detection structure, and the locking head and the detection structure are connected to the support frame via a sliding assembly;

[0010] The clamp includes a first clamping part, a second clamping part and a movable part, the first clamping part is arranged on the upper surface of the movable part, one side of the first clamping part is rotatably connected to the second clamping part, and the side surface of the movable part is connected to the second clamping part through a retractable guide rod, so that the second clamping part rotates around the connection between the first clamping part and the second clamping part.

[0011] The present application also provides a control method for a two-in-one screw locking machine, which is used to control any of the two-in-one screw locking machines described above, comprising the steps of:

[0012] Obtaining the number of screws in a screw feeder, and adjusting a vibration mechanism in the screw feeder to perform a vibration frequency adjustment process based on the number of screws, so that the screws move from the braking mechanism to the fixed structure;

[0013] The photoelectric sensor on the fixture acquires the product's dimensional data, matches the coordinates of the dimensional data with the current angle of the fixture, and calculates the optimal clamping angle of the fixture;

[0014] obtaining positioning information of the screw on the fixing structure, calculating a locking path of a locking head based on the positioning information, product size data, and an optimal clamping angle of a clamp, and controlling the locking head to perform a locking process according to the locking path;

[0015] Acquiring real-time torque data of the locking head based on a sensor on the locking head, and acquiring image information after locking processing based on a detection structure;

[0016] A comprehensive evaluation process is performed based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and the locking machine head is adjusted according to the comprehensive evaluation result.

[0017] Compared with the prior art, this application has the following beneficial effects:

[0018] The present invention adopts a combined structure of a screw feeder and a rotating disk, which can effectively improve the stability and accuracy of screw supply. Through the cooperation of the vibration mechanism and the rotating disk, the vibration mechanism can ensure that the screws flow smoothly and are accurately positioned through the gap of the rotating disk, thereby avoiding the problems of screw blockage and incorrect supply, and significantly improving the efficiency and stability of the screw supply system; further, through the design of the combination of the movable part and the guide rod, the second clamping part can rotate around the first clamping part, which is convenient for adjustment according to the different specifications of the workpiece and the screw, thereby ensuring the rapid adjustment and precise clamping of the fixture, and improving the adaptability and precision of the equipment; further, the design of the screw locking assembly enables the locking machine head and the detection structure to be more flexibly connected to the support frame through the cooperation of the sliding assembly, further improving the operational stability and accuracy during the screw locking process, making the entire locking process simpler and more efficient, while improving the quality and consistency of the screw locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0021] Figure 1 This is a schematic diagram of the overall structure of the two-in-one screw locking machine;

[0022] Figure 2 This is a partial structural diagram of a two-in-one screw locking machine;

[0023] Figure 3 This is a structural diagram of an embodiment of a screw feeder for a two-in-one screw locking machine;

[0024] Figure 4 It is a structural schematic diagram of an embodiment of a screw locking assembly of a two-in-one screw locking machine;

[0025] Figure 5 This is a structural diagram of an embodiment of a clamp for a two-in-one screw locking machine;

[0026] Figure 6 It is a structural schematic diagram of another embodiment of a clamp for a two-in-one screw locking machine;

[0027] Figure 7 It is a structural schematic diagram of an embodiment of a sliding assembly of a two-in-one screw locking machine;

[0028] Figure 8 The figure is a schematic diagram of the overall steps of the control method of the two-in-one screw locking machine.

[0029] Illustration:

[0030] 1. Chassis; 11. Workbench; 12. Support frame; 2. Screw feeder; 21. Vibration mechanism; 22. Fixing structure; 221. Rotating disk; 2211. Notch; 222. Fixing plate; 223. Arc stopper; 3. Screw locking assembly; 31. Locking head; 311. Driving mechanism; 312. Locking head; 313. Rotating bearing; 314. Compression spring; 32. Detection structure; 321. Guide wall; 322. Positioning plate; 323. Inclined structure Structure; 324, photoelectric switch; 325, extension plate; 326, industrial camera; 327, positioning ring; 328, hollow ring structure; 4, clamp; 41, first clamping part; 42, second clamping part; 411, round rod; 43, movable part; 44, guide rod; 45, first driving member; 46, limit member; 47, second driving member; 5, sliding assembly; 51, first slide rail; 52, second slide rail; 53, third slide rail; 6, safety light grid; 7, air source interface. DETAILED DESCRIPTION

[0031] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] In the description of this application, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component.

[0033] The technical solution of the present application will be further explained below with reference to the accompanying drawings and through specific implementation methods.

[0034] Reference Figures 1 to 7 The present application provides a two-in-one screw locking machine, comprising: a chassis 1, a workbench 11 is provided inside the chassis 1, and a support frame 12 is provided on the surface of the workbench 11; a screw feeder 2, the screw feeder 2 is provided on the side of the workbench 11, and comprises a vibration mechanism 21 and a fixed structure 22, an outlet is provided on the side of the vibration mechanism 21, and the fixed structure 22 comprises a rotating disk 221, and a plurality of notches 2211 are equidistantly provided on the side of the rotating disk 221, the notches 2211 of the rotating disk 221 are aligned with the outlet of the vibration mechanism 21, and the notches 2211 of the rotating disk 221 are used to position the screws output from the outlet of the vibration mechanism 21; a screw locking machine; The paying component 3 includes a locking paying head 31 and a detection structure 32, the locking paying head 31 is fixedly connected to the detection structure 32, and the locking paying head 31 and the detection structure 32 are connected to the support frame 12 through a sliding component 5; the clamp 4 includes a first clamping part 41, a second clamping part 42 and a movable part 43, the first clamping part 41 is arranged on the upper surface of the movable part 43, and one side of the first clamping part 41 is rotatably connected to the second clamping part 42, and the side of the movable part 43 is connected to the second clamping part 42 through a retractable guide rod 44, so that the second clamping part 42 rotates around the connection between the first clamping part 41 and the second clamping part 42.

[0035] In this embodiment, the chassis 1 is the outer frame of the entire device, and a workbench 11 is provided inside the chassis 1. A support frame 12 is installed on the surface of the workbench 11. The screw feeder 2 includes a vibration mechanism 21 and a fixed structure 22. The vibration mechanism 21 is located on the side of the screw feeder 2 and is provided with an outlet. The vibration mechanism 21 vibrates at a certain frequency and amplitude so that the screws can be smoothly transported along the feeding channel to the next workstation, that is, the outlet. The fixed structure 22 is composed of a rotating disk 221. A plurality of notches 2211 are equidistantly provided on the side of the rotating disk 221. These notches 2211 are aligned with the outlet of the vibration mechanism 21. Specifically, whenever a screw passes through the vibration mechanism 21 and through the outlet, the notch 2211 on the rotating disk 221 will fix it in a specific position, ensuring that each screw supplied can accurately reach the working position of the locking machine head 31, avoiding misalignment, falling or clogging of the screw, thereby improving the efficiency and stability of feeding. For example, during the production process, if smaller screws are used, the vibration mechanism 21 can ensure smooth screw supply by adjusting the vibration intensity, while the notch 2211 of the rotating disk 221 effectively prevents screws of different specifications from being misaligned, thereby achieving compatible supply of screws of different specifications. During the locking process, the locking head 31 is fixedly connected to the detection structure 32, and the detection structure 32 is connected to the support frame 12 through the sliding component 5, so that the entire locking head 31 can be slid and adjusted horizontally or vertically as needed. The design of this sliding component 5 greatly improves the adaptability and flexibility between the locking head 31 and the workpiece. For example, when producing workpieces of different specifications, by adjusting the sliding component 5, the locking head 31 can be accurately positioned in the appropriate working position, ensuring the accuracy of the screw locking angle and depth. In addition, the detection structure 32 can monitor the screw locking status in real time, detect whether there are any unlocked screws or unqualified locking, and automatically adjust the working parameters on this basis, further improving the degree of automation and accuracy of the operation. The clamp 4 is composed of a first clamping portion 41, a second clamping portion 42 and a movable portion 43, wherein the first clamping portion 41 is located on the upper surface of the movable portion 43 and is connected to the second clamping portion 42. The side of the movable portion 43 is connected to the second clamping portion 42 through a guide rod 44, so that the second clamping portion 42 can rotate around the connection between the first clamping portion 41 and the second clamping portion 42. This structural design allows the clamp 4 to be flexibly adjusted according to the different sizes of the workpiece, ensuring that a stable clamping force can be provided when clamping different workpieces. For example, during the production process, if the workpiece to be locked is small in size, the movable portion 43 can adjust the position of the second clamping portion 42 by rotating, thereby ensuring that the clamping force is concentrated on the key position of the workpiece, avoiding slippage or inaccurate positioning of the workpiece due to improper clamping. When the workpiece size is large, the adjustment function of the clamp 4 can also ensure clamping stability and positioning accuracy, thereby avoiding the disadvantage that the traditional clamp 4 cannot be quickly adjusted and adapted to workpieces of multiple specifications.

[0036] In summary, this embodiment solves the problems of low efficiency, poor adaptability and low precision in the prior art by optimizing the screw supply system, locking components and fixture 4 structure, ensuring that the two-in-one screw locking machine can operate efficiently and stably in the process of automatically locking screws of multiple specifications and complex workpieces. For example, when this equipment is used on a production line, it can not only automatically adjust the fixture 4 to adapt to the size of different workpieces, but also ensure the accuracy and stability of the screw supply through the coordination of vibration and rotating disk 221, thereby significantly improving production efficiency and reducing manual intervention and quality fluctuations in the production process. Through the specific design of this embodiment, the equipment can efficiently and accurately complete the automated screw locking operation, greatly improving the level of automation in industrial production.

[0037] In one embodiment, two sets of screw-locking assemblies 3 are installed on either side of the workbench 11, enabling the equipment to simultaneously lock two different workpieces, significantly improving operational efficiency. Each set of screw-locking assemblies includes an independent locking head 31 and detection structure 32, connected to the support frame 12 via a separate sliding assembly 5, ensuring independent movement and precise control of the locking head 31. In practical applications, this design allows the equipment to double production capacity without adding additional operators, increasing production line throughput and reducing labor costs per unit of product.

[0038] In one embodiment, reference Figure 7 The sliding assembly 5 includes a first slide rail 51, a second slide rail 52 and a third slide rail 53. The first slide rail 51 is fixedly connected to the support frame 12, and the second slide rail 52 is slidably connected to the first slide rail 51, so that the second slide rail 52 reciprocates along the first direction on the first slide rail 51, and the third slide rail 53 is slidably connected to the second slide rail 52, so that the third slide rail 53 reciprocates along the second direction on the second slide rail 52, and the locking head 31 and the detection structure 32 are slidably connected to the third slide rail 53, so that the locking head 31 and the detection structure 32 reciprocate along the third direction on the third slide rail 53, so that the locking head 31 and the detection structure 32 can reciprocate in three dimensions on the support frame 12.

[0039] In this embodiment, the sliding assembly 5 includes a first slide rail 51, a second slide rail 52 and a third slide rail 53. The first slide rail 51 is fixedly connected to the support frame 12, and it plays a supporting role, providing a stable foundation for the entire sliding system. The second slide rail 52 is slidably connected to the first slide rail 51. The second slide rail 52 can reciprocate along the first direction (first horizontal direction) under the guidance of the first slide rail 51. The third slide rail 53 is slidably connected to the second slide rail 52, so that the third slide rail 53 can reciprocate along the second direction (second horizontal direction, i.e., depth direction) under the guidance of the second slide rail 52, forming a three-dimensional sliding system, which can realize three-dimensional precise movement of the locking machine head 31 and the detection structure 32. In practice, both the screwing head 31 and the detection structure 32 are fixed to the third slide rail 53 and can reciprocate along the direction of motion (i.e., longitudinal) of the third slide rail 53. This allows the screwing head 31 to be precisely positioned horizontally and vertically during screw tightening, while also enabling fine-tuning in depth, ensuring high precision and stability during the screw tightening process. Compared to conventional screw tightening machines, this three-dimensional motion system provides greater flexibility in screw tightening operations, adapting to workpieces of varying shapes, sizes, and complexity. Specifically, a support frame 12 is mounted on the worktable 11 within the chassis 1. This support frame 12 provides a stable reference surface, ensuring that the slide assembly 5 accurately follows a predetermined trajectory during screw tightening. The three-dimensional motion system of the slide assembly 5 enables the screwing head 31 to precisely align with the workpiece's screw hole before each screw tightening. For example, if a complex workpiece, such as one with multiple holes or angled holes, needs to be tightened, conventional screw tightening machines may be unable to accurately tighten due to the inability to adjust the depth or angle. The locking head 31 of the sliding assembly 5 can be fine-tuned in three directions according to the different shapes and positioning requirements of the workpiece, thereby greatly improving the accuracy of screw locking. In addition, the locking head 31 can also move toward the screw feeder 2 from multiple directions to absorb the screw.

[0040] In one embodiment, reference Figure 4The detection structure 32 includes a guide wall 321, which is connected to the sliding assembly 5. A positioning plate 322 is provided on the side of the guide wall 321 away from the sliding assembly 5. A slope structure 323 is provided on the side of the positioning plate 322 away from the guide wall 321, and a photoelectric switch is provided on the slope structure 323; an extension plate 325, which is fixedly connected to the positioning plate 322, and an industrial camera 326 is provided on the side of the extension plate 325, and a positioning ring 327 is provided at one end of the extension plate 325 away from the positioning plate 322, and a first through hole is provided inside the positioning ring 327, and a hollow annular structure 328 is provided on the side of the positioning ring 327 close to the industrial camera 326, and a plurality of equidistant second through holes are provided on the annular edge of the hollow annular structure 328, the diameter of the first through hole is smaller than the lens diameter of the industrial camera 326, and the hollow part of the hollow annular structure 328 is larger than the lens diameter of the industrial camera 326.

[0041] In this embodiment, the detection structure 32 includes a guide wall 321, a positioning plate 322, a photoelectric switch, and an extension plate 325. The purpose of the combination of these components is to ensure the accurate locking of the screw. The guide wall 321 is connected to the sliding assembly 5, so that the detection structure 32 can be precisely adjusted with the movement of the locking head 31, thereby ensuring the synchronization and stability of the entire system. During the operation of the screw locking machine, a slope structure 323 is provided on one side of the positioning plate 322, and a photoelectric switch is installed on the slope structure 323. The function of the photoelectric switch is to detect whether the product has entered the fixture 4. Once the photoelectric switch detects that the product has entered the predetermined position, the subsequent locking action is triggered; the extension plate 325 is fixedly connected to the positioning plate 322, and an industrial camera 326 is provided on the side of the extension plate 325. The function of the industrial camera 326 is to monitor in real time whether the screw is correctly placed in the locking position through visual sensing technology. Through image processing algorithms, the industrial camera 326 can accurately identify the position of the screw and feed the data back to the control system. If a screw is not properly aligned or encounters other problems, the system automatically adjusts the position of the locking head 31 to ensure that each screw is accurately locked into the workpiece. A positioning ring 327 is located at the distal end of the extension plate 325. A first through-hole is located within the positioning ring 327. The diameter of the first through-hole is smaller than the diameter of the lens of the industrial camera 326. This design allows the industrial camera 326 to focus on the screw's locking position without interference. The positioning ring 327 ensures the stability and accuracy of the industrial camera 326 while preventing any external factors from interfering with image acquisition. Multiple equally spaced second through-holes are also located within the hollow annular structure 328 of the positioning ring 327. The hollow annular structure 328 provides further optical support, preventing imaging errors caused by variations in the lens angle and the distance between the workpiece and the lens. This design allows the industrial camera 326 to precisely align with the locking point in three dimensions, ensuring that the visual recognition system can accurately determine the screw's condition. The second through-holes located along the annular edge of the hollow structure enable more flexible light control, further optimizing the working environment of the visual system and reducing external light interference. For example, on some automated production lines, workpieces may experience slight deviations due to various factors (such as machining errors and temperature fluctuations), resulting in slight shifts in the screw hole position. Without a precise positioning and visual inspection system, screw tightening may fail, resulting in production stagnation or substandard product quality. Using the detection structure 32 described in this embodiment, the industrial camera 326 can monitor the position of each screw in real time and adjust the position of the tightening head 31 through a feedback system to ensure that each screw is accurately locked into the workpiece screw hole.It is worth noting that in this embodiment, the locking head 31 and the detection device are arranged adjacent to each other. After the position of the screw hole is located by the detection device, the locking head 31 is moved a corresponding distance according to the distance of the adjacent settings to enable the locking head 31 to work. In another embodiment, the locking head 31 and the detection device can also be set to be separated, and data exchange between the two can be achieved through wireless communication technology. In this design, the locking head 31 can be moved independently of the detection device, and the detection device can be flexibly placed in a more suitable position to accommodate workpieces of different sizes and shapes. The application of wireless communication technology, such as Bluetooth or Wi-Fi, ensures the stability and real-time nature of data transmission, so that the locking head 31 can quickly respond to the instructions of the detection device.

[0042] In one embodiment, reference Figure 4 The locking head 31 includes a driving mechanism 311 and a locking head 312. The driving mechanism 311 is connected to the guide wall 321 through a fourth guide rail. The driving mechanism 311 includes a motor and a connecting shaft. The motor is connected to the locking head 312 through a connecting shaft. The end of the locking head 312 away from the driving mechanism 311 is provided with a screw receiving groove. The size of the screw receiving groove matches the outer diameter of the screw. The outer surface of the locking head 312 is provided with an air outlet interface; a rotating bearing 313, the rotating bearing 313 is provided on the driving mechanism 311 and the locking head 312, and is sleeved on the connecting shaft, the inner ring of the rotating bearing 313 cooperates with the outer ring of the connecting shaft, and the outer ring of the rotating bearing 313 cooperates with the inner ring of the locking head 312, so that the locking head 312 can rotate around the connecting shaft; a compression spring 314, the compression spring 314 is arranged between the driving mechanism 311 and the rotating bearing 313, and is sleeved on the connecting shaft, and the rotating bearing 313 is provided with a groove corresponding to the compression spring 314 on the side close to the driving mechanism 311.

[0043] In this embodiment, the locking head 31 includes a drive mechanism 311 and a locking head 312. The drive mechanism 311 primarily consists of a motor and a connecting shaft. The motor provides power, driving the connecting shaft to rotate, and the connecting shaft transmits the motor's rotational force to the locking head 312. To ensure that the locking head 312 rotates in a precise direction, the drive mechanism 311 is connected to a guide wall 321 via a fourth guide rail, preventing the drive mechanism 311 from deflecting or vibrating during operation. The guide wall 321 provides stable support for the drive mechanism 311, ensuring it maintains a precise trajectory during rotation, thereby improving locking accuracy and reliability. The power from the drive mechanism 311 is transmitted to the locking head 312 via the connecting shaft. The locking head 312 is located at the end away from the drive mechanism 311 and includes a screw receiving slot. The size of this slot matches the outer diameter of the screw, ensuring that each screw is accurately received in the locking head 312, preventing locking failure due to size mismatch. The precise dimensions of the screw receiving slot match the outer diameter of the screw, allowing the screw to remain firmly in the locking head 312, ready for the locking operation. The rotating shaft is located between the drive mechanism 311 and the locking head 312, and the function of the rotating bearing 313 is to enable the locking head 312 to rotate freely around the connecting shaft, thereby achieving the screw-in action. The rotating bearing 313 is connected to the connecting shaft and the locking head 312 through the cooperation of its inner and outer rings, so that the locking head 312 can rotate around the connecting shaft under the power of the drive mechanism 311 and lock the screw at a suitable angle. In this design, the rotating bearing 313 not only plays the role of transmitting power, but more importantly, it reduces friction, making the rotation of the locking head 312 smoother, ensuring that the screw can apply force evenly during the locking process, thereby avoiding locking failure or screw damage. The compression spring 314 is located between the drive mechanism 311 and the rotary bearing 313 and is mounted on the connecting shaft. The compression spring 314 provides a certain degree of elasticity, ensuring that the locking head 312 maintains a certain pressure during screw tightening, thereby ensuring a closer contact between the screw and the workpiece. A groove is provided on the side of the compression spring 314 near the drive mechanism 311. This groove corresponds to the compression spring 314 and acts as a buffer when the compression spring 314 is subjected to pressure, preventing damage to the locking head 312 due to excessive compression. The compression spring 314 not only improves the accuracy of screw tightening but also enhances the durability of the equipment, reducing wear and tear during long-term use. For example, in automated production lines, especially in applications requiring high-precision screw tightening, such as electronic product assembly and automotive parts assembly, every detail of the screw tightening machine requires precise control. The motor drives the connecting shaft to rotate, which in turn rotates the locking head 312 around the connecting shaft via the rotary bearing 313. Guided by the locking head 312, the screw is securely inserted into the screw hole of the workpiece.During this process, the reverse pressure provided by the compression spring 314 can ensure that the force of locking the screw is uniform, thereby avoiding loose locking or thread damage caused by excessive or insufficient force.

[0044] In one embodiment, reference Figure 5 and Figure 6 The first clamping part 41 and the second clamping part 42 are both composed of multiple rows of round rods 411, and the round rods 411 include a round shell and a round shaft. The round shells in the same row are connected by the round shaft, and the round shaft includes multiple layers of rings, and there is a gap between each layer of rings; the side of the movable part 43 is provided with a groove, and the groove is used to accommodate the limit member 46. The inner side of the movable part 43 is provided with a first driving member 45, and the output end of the first driving member 45 is connected to the limit member 46, so that the limit member 46 moves back and forth in the groove along the length direction of the movable part 43. The guide rod 44 includes a plurality of rod segments, and the ends of the plurality of rod segments are connected to each other by connecting members. One end of the guide rod 44 is connected to the side of the second clamping portion 42 close to the movable portion 43, and the other end of the guide rod 44 is connected to the side of the movable portion 43 and to the second driving member 47 inside the movable portion 43 to limit the rotation angle between the guide rod 44 and the movable portion 43, thereby driving the second clamping portion 42 to rotate around the first clamping portion 41.

[0045] In this embodiment, the clamp 4 includes a first clamping portion 41 and a second clamping portion 42. Both portions are composed of multiple rows of round rods 411, each row of which consists of a circular shell and a circular shaft. This design makes the clamping portion more stable and flexible in structure. The circular shaft adopts a multi-layer circular ring design with gaps between each layer of circular rings. The purpose of this design is to reduce friction, improve the flexibility and durability between the round rods 411, thereby ensuring that the opening and closing action of the clamp 4 is smoother and less susceptible to wear. At the same time, due to the gaps between each layer of circular rings, the overall structure of the circular shaft can also adapt to different operating environments and work intensities, thereby improving the overall stability and service life of the device. In order to achieve the opening and closing action of the clamp 4, a groove is provided on the side of the movable portion 43. The groove serves to accommodate a limiter 46. The limiter 46 can reciprocate within the groove along the length of the movable portion 43, ensuring that the first clamping portion 41 and the second clamping portion 42 can open and close according to a predetermined trajectory, avoiding operational errors or equipment damage caused by excessive or incomplete opening and closing of the clamp 4. The limiting member 46 is connected to the first driving member 45 provided on the inner side of the movable portion 43. The first driving member 45 drives the limiting member 46 to move within the groove through its output end, thereby achieving precise opening and closing of the clamp 4, ensuring that the product can be firmly and accurately clamped during the locking process, while also avoiding excessive clamping or loosening. Specifically, the first driving member 45 can be an electric motor or a pneumatic device, whose output end is connected to the limiting member 46. By driving the limiting member 46 to move back and forth in the groove, the opening and closing of the clamp 4 is controlled. The guide rod 44 is formed by connecting a plurality of rod segments, the ends of which are interconnected by connecting members, so that the guide rod 44 can smoothly perform mechanical movement with the cooperation of the movable portion 43. One end of the guide rod 44 is connected to the second clamping portion 42, and the other end is connected to the side of the movable portion 43. It is also connected to the second driving member 47 within the movable portion 43. Driven by the second drive member 47, the guide rod 44 can limit the rotation angle between the movable part 43 and the clamping part, so that the second clamping part 42 can maintain a precise rotation angle when rotating around the first clamping part 41, thereby being able to adapt to products of different lengths. In general, the limiter 46 is suitable for limiting the position of products of different widths, and the guide rod 44 is suitable for products of different lengths. Through precise control in two directions, the clamp 4 can achieve stable clamping of products of various sizes. In one embodiment, a photoelectric sensor is provided on the outer surface of the movable part 43 for detecting the length of the product. The photoelectric sensor detects whether the product has reached the predetermined position by emitting and receiving light, thereby ensuring the precise positioning of the product during the locking process. When the product reaches the specified position, the sensor sends a signal to the control system, which then instructs the first drive member 45 and the second drive member 47 to perform corresponding actions to complete the locking of the product.

[0046] In one embodiment, a groove is provided inside the vibration mechanism 21, the height of the groove matches the diameter of the screw, and the length of the groove is adapted to the feeding path of the screw. The vibration mechanism 21 includes a plurality of electromagnetic vibration devices, both ends of the electromagnetic vibration device are connected to the power supply through a conductive cable, the electromagnetic vibration device is fixedly connected to the vibration plate, and the working port of the electromagnetic vibration device faces the surface of the vibration plate, so that the vibration plate can generate horizontal vibration and drive the screw to advance along the groove toward the outlet; the fixed structure 22 also includes a fixed plate 222, the rotating disk 221 is embedded in the interior of the fixed plate 222, and the upper surface of the fixed plate 222 is provided with an arc-shaped limit block 223, and the arc surface of the arc-shaped limit block 223 faces the center of the rotating disk 221.

[0047] In this embodiment, a groove is provided inside the vibration mechanism 21. The height of the groove matches the diameter of the screw, and the width and depth of the groove are designed to ensure that the screw can slide freely in the groove without getting stuck or stacking. The vibration mechanism 21 includes multiple electromagnetic vibration devices, both ends of which are connected to a power source via conductive cables. When the electromagnetic vibration device is working, it generates a vibration effect through changes in current, thereby driving the connected vibration plate to vibrate. The working port of the vibration plate faces the surface of the groove, so that the vibration force generated by the electromagnetic vibration device can be transmitted to the vibration plate, thereby driving the screw in the groove toward the outlet. Because the vibration plate can generate horizontal vibration, this vibration method can efficiently push the screw forward along the groove, while avoiding the risk of the screw rolling or uneven distribution due to vertical vibration. Therefore, through the cooperation of the electromagnetic vibration device and the vibration plate, the screw can be advanced in an orderly manner along the groove and eventually enter the gap 2211 of the rotating disk 221. Regarding the fixed structure 22, the rotating disk 221 can fix and transport the screws delivered from the vibration mechanism 21. The side of the rotating disk 221 is equidistantly provided with a number of notches 2211, each of which is aligned with the outlet of the vibration mechanism 21. The function of these notches 2211 is to fix the screws, so that the screws output from the vibration mechanism 21 can be positioned on the rotating disk 221 and stably enter the locked position. By aligning the rotating disk 221 with the outlet of the vibration mechanism 21, it is ensured that each screw output can smoothly enter the corresponding notch 2211 of the rotating disk 221, preventing the screws from being misplaced or falling. The fixed structure 22 of the rotating disk 221 also includes a fixed plate 222. The rotating disk 221 is embedded in the fixed plate 222. The upper surface of the fixed plate 222 is provided with an arc-shaped limit block 223. The arc surface of the arc-shaped limit block 223 faces the center of the rotating disk 221. The function of the arc-shaped limit block 223 is to prevent the rotating disk 221 from excessive rotation or displacement during operation, ensuring the accuracy and stability of its operation. The arc-shaped limit block 223 cooperates with the rotating disk 221 to limit the rotation angle of the rotating disk 221, thereby controlling the alignment accuracy between the notch 2211 and the outlet of the vibration mechanism 21 each time the rotating disk 221 rotates.

[0048] In one embodiment, a safety grating 6 is provided on the side of the chassis 1, and the safety grating 6 includes multiple photoelectric grating units, and the grating units are arranged at the upper part of the side of the chassis 1, and the ports of the grating units face the outside of the chassis 1; an air source interface 7, and the air source interface 7 is arranged at the bottom of the side of the chassis 1, including a gas connecting pipe and a control valve, and the gas connecting pipe is connected to the external air source through a quick connector, and the control valve is arranged at the air source interface 7, and the port of the control valve faces the inside of the chassis 1, for adjusting the air source flow.

[0049] In this embodiment, the setting of the safety grating 6 is mainly to ensure the safety of the two-in-one screw locking machine during operation, especially in automated production, where contact between people and machines avoids potential dangers. The safety grating 6 is composed of a plurality of photoelectric grating units. The grating units detect objects by emitting and receiving light beams. When the photoelectric grating units on the side of the chassis 1 are installed, their ports face the outside of the chassis 1, which means that these grating units are responsible for monitoring people or objects outside the chassis 1. If the operator accidentally approaches the working area of the chassis 1, or if any abnormal situation occurs in the machine (such as parts falling, misoperation, etc.), the photoelectric grating will immediately sense it and issue an alarm or automatically stop the operation of the machine through the signal control system, thereby protecting the safety of the operator. Specifically, when the light beam emitted by the grating unit is blocked, the system can immediately stop the machine or trigger the safety mechanism after detecting this change to prevent accidents caused by people or objects entering the working area. The air source interface 7 is provided at the bottom of the side of the chassis 1. Its function is to provide the machine with the required air source power. The air source interface 7 includes a gas connecting pipe and a control valve. The gas connecting pipe is connected to the external air source through a quick connector. This design allows the external air source to be quickly connected to the pneumatic system of the screw locking machine. The operator can connect the external air source equipment to the pneumatic system inside the chassis 1 through a quick connector. The control valve plays the role of regulating the air source flow. It is provided at the air source interface 7 with the port facing the inside of the chassis 1, so that the user can adjust the airflow during the operation of the equipment and ensure that the pneumatic system inside the equipment can work in the best condition. The adjustment function of the control valve can control the amount of air entering the chassis 1, thereby adjusting the operating status of the pneumatic components inside the machine (such as the pneumatic motor, pneumatic clamp 4, etc.) to achieve precise motion control.

[0050] Reference Figure 8 The present application also proposes a control method for a two-in-one screw locking machine, which is applied to any of the two-in-one screw locking machines described above, comprising the steps of:

[0051] S1: obtaining the number of screws in the screw feeder, and adjusting the vibration mechanism in the screw feeder to adjust the vibration frequency based on the number of screws, so that the screws move from the braking mechanism to the fixed structure;

[0052] In step S1, the number of screws in the screw feeder is determined using a sensor installed on or connected to the screw feeder. This sensor monitors the number of screws in real time and, through data feedback, informs the control system of the current remaining number of screws in the feeder. The sensor can include a photoelectric sensor, an ultrasonic sensor, or a pressure sensor, which measures the number of screws in the feeder and provides accurate information to the control system. The operating state of the vibration mechanism is automatically adjusted based on the number of screws, adjusting the flow rate of the screws by varying the vibration frequency or amplitude. If the number of screws in the feeder is large, indicating a heavy load on the vibration mechanism, the control system will reduce the vibration frequency to prevent excessive screws from rapidly converging, leading to uneven feeding or screw jams. Conversely, when the number of screws is small, the vibration frequency of the vibration mechanism is appropriately increased to ensure that the screws can be effectively moved and smoothly delivered to the fixed structure, preventing slow feeding or failure of the screws to reach the target position due to an excessively low vibration frequency. Adjusting the vibration frequency is not a purely linear process and can be dynamically adjusted based on the number of screws in the feeder and the physical properties of the vibration mechanism (such as the relationship between vibration amplitude, vibration frequency, and screw flow rate). For example, when there are a large number of screws, excessively high vibration frequencies can cause them to collide, pile up, or become congested. Therefore, the system reduces the frequency to optimize the screw delivery path and flow. When there are fewer screws, the system automatically increases the vibration frequency to speed up the screw flow, thereby improving the overall production efficiency of the screw locking machine and ensuring that the screws are moved to the fixed structure in a timely and accurate manner for the next operation.

[0053] S2: Acquire product size data based on the photoelectric sensor on the fixture, perform coordinate matching based on the size data and the current angle of the fixture, and calculate the optimal clamping angle of the fixture;

[0054] In step S2, the product's dimensional data is acquired through a photoelectric sensor on the fixture. The sensor detects the product's dimensional data by emitting and receiving light signals. Photoelectric sensors can accurately measure the product's dimensions without contacting the product, by reflecting or obstructing a light beam. These sensors operate based on the reflective properties of light. When a light beam is reflected back from the product's surface and returned to the sensor, the sensor infers the product's dimensional data based on parameters such as the intensity and time delay of the reflected light. Because photoelectric sensors can accurately capture the product's external dimensions, they provide critical data for subsequent operations. After acquiring the product's dimensional data, coordinate matching is performed based on this data combined with the fixture's current angle. The fixture's angle refers to its relative angle in space. By matching this with the dimensional data, the optimal clamping angle to which the fixture should be adjusted is calculated. This angle calculation takes into account not only the product's external dimensions but also the contact pattern between the fixture and the product, the uniformity of the clamping force, and the relative position between the fixture and the locking head.

[0055] S3: obtaining positioning information of the screw on the fixing structure, calculating a locking path of a locking head based on the positioning information, product size data, and an optimal clamping angle of the fixture, and controlling the locking head to perform a locking process according to the locking path;

[0056] In step S3, the positioning information of the screw on the fixed structure is obtained. This can be achieved through various sensors and visual inspection systems, such as cameras, laser rangefinders, or photoelectric sensors, which can accurately measure the position and orientation of the screw within the fixed structure. After obtaining the screw's positioning information, the product's dimensional data, and the optimal clamping angle of the fixture, the control system must then perform a comprehensive calculation to determine the locking path of the locking head. The locking path refers to the precise trajectory that the locking head must follow when performing the locking operation. Path calculation is not just a simple geometric problem; it also involves the precise coordination of mechanics, dynamics, and the control system. The locking path calculation calculates the optimal motion trajectory of the locking head from its current position to the hole where the screw is locked into the product based on the positioning information, the product's dimensional data, and the optimal clamping angle of the fixture. Furthermore, the locking head's path calculation must also take into account the machine's motion constraints, such as movement speed, acceleration, and rotation angle. Specifically, a path optimization strategy based on dynamic programming or genetic algorithms can be used to achieve optimization of the locking path. Dynamic programming algorithms predict the optimal path based on current status and historical information, while genetic algorithms, by simulating the process of natural selection, iteratively optimize the path to reduce locking time and improve locking efficiency. After the path calculation is complete, the control system generates a detailed locking instruction sequence to guide the locking head to accurately lock according to the predetermined path and speed.

[0057] S4: acquiring real-time torque data of the locking head based on a sensor on the locking head, and acquiring image information after locking processing based on a detection structure;

[0058] In step S4, when the locking head performs the locking task, it applies rotational torque to the screw through a motor or servo system to complete the locking operation. The locking head is equipped with a high-precision torque sensor that detects the rotational torque applied during the locking process, converts it into an electrical signal, and transmits it to the control system. Furthermore, the industrial camera on the detection mechanism can obtain image information after the locking process. This image information can help the system determine whether the screw has been fully locked into the product's keyhole and the accuracy of the locking. The image processing algorithm analyzes this image data to identify the alignment of the screw with the product's keyhole, check for problems such as screw position offset or oblique insertion, and even detect whether any screws are missing or stuck. The image information can also be used to further determine whether the locked product meets quality standards, such as whether there is obvious thread damage or other signs of improper locking.

[0059] S5: Perform comprehensive evaluation based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjust the locking machine head according to the comprehensive evaluation result.

[0060] In step S5, the real-time torque data and image information are comprehensively evaluated to assess the locking status, and adjustments to the locking head are made based on the evaluation results. Specifically, the torque data and image information collected in step S4 are integrated and processed. Data analysis algorithms can determine whether the locking is within the appropriate parameter range and whether there are any anomalies. For example, if the torque data is too high and the image shows that the screw is not fully locked, the system will determine that it is overtightened or the clamp is incorrectly positioned. If the torque data is too low and the image shows obvious signs of loosening, it indicates that the locking is incomplete and the torque setting or clamp angle may need to be adjusted. After integrating this information, the system generates a locking status assessment report and makes adjustments to the machine based on the evaluation results. For example, if the system detects an anomaly in a certain link, it will instruct to adjust the torque output of the locking head, adjust the angle and position of the clamp, or even adjust the vibration frequency of the feeder to optimize the entire process. In addition, if certain locking tasks have produced adverse results, the system may start a self-diagnosis program to analyze whether there is a mechanical failure or operational error, and prompt maintenance personnel to take appropriate measures through troubleshooting.

[0061] In one embodiment, the steps of obtaining positioning information of the screw on the fixing structure, calculating a locking path of a locking head based on the positioning information, product size data, and an optimal clamping angle of a fixture, and controlling the locking head to perform a locking process according to the locking path include:

[0062] Performing positioning processing on the positioning information of the screw on the fixed structure, extracting the geometric center coordinates and posture data of the screw, and obtaining a positioning coordinate system of the screw;

[0063] Converting the positioning coordinate system of the screw to the reference coordinate system of the product to obtain the spatial relationship between the relative position of the screw and the product, thereby correcting the offset of the screw relative to the product;

[0064] The screw positioning information is rotated and adjusted according to the angle parameters of the fixture to obtain new coordinate information, and it is determined whether the new coordinate information meets the optimal clamping conditions of the fixture. If not, the fixture angle is recalculated and fine-tuned to obtain the optimal clamping angle;

[0065] The locking path planning process is performed based on the corrected screw positioning information, the product's dimension data, and the optimal clamping angle of the fixture, and the path planning is corrected based on the mobile sensor data to obtain the optimal planned path, and the locking head is controlled to perform locking processing according to the optimal planned path.

[0066] In this embodiment, sensors or image recognition technology are used to capture the geometric center coordinates and posture data of the screw, ensuring the accurate determination of the screw's specific position and orientation relative to the fixed structure. The screw's positioning coordinate system is then converted to the product's reference coordinate system, allowing the spatial relationship between the screw and the product to be corrected. Mathematical models for coordinate transformation, such as rotation matrices or translation matrices, can be used to convert the screw's coordinates from one local coordinate system to another global coordinate system. For example, if there are rotational and translational discrepancies between the fixed structure and the product's coordinate systems, the conversion formula can be adjusted using the rotation matrix, and the calculated target coordinates will be the screw's precise position relative to the product. After this conversion, the screw's offset relative to the product is accurately determined, facilitating the subsequent fixture angle adjustment and path planning. After determining the relative position of the screw and the product, the screw's position is rotationally adjusted based on the fixture's angle parameters to ensure that the screw enters the product's keyhole at the correct angle. This process involves rotating the screw's positioning information to obtain new coordinate information. Fine-tuning the fixture angle can be achieved through inverse calculation. If the fixture's current angle does not match the optimal angle for screw positioning, the system calculates the optimal angle and performs fine-tuning. For example, suppose the current angle of the fixture is 15 degrees, and based on the position of the screw and the lock hole requirements of the product, the optimal fixture angle should be 20 degrees. The system adjusts the fixture angle to ensure the optimal clamping angle of the screw, which ensures that the screw can accurately dock with the lock hole and be locked smoothly. The trajectory of the locking head is dynamically calculated and corrected based on the model algorithm and real-time data. In order to cope with possible errors, the path is adjusted in real time according to the data of the mobile sensor to ensure that the locking head is always in the most appropriate position and angle for locking operations. If a deviation is found in the preset path of the locking head during the path planning process, the path is corrected and the movement trajectory of the head is adjusted through sensor data.

[0067] In one embodiment, the step of performing comprehensive evaluation processing based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjusting the locking handpiece according to the comprehensive evaluation result includes:

[0068] The real-time torque data of the locking handpiece is analyzed and processed to obtain a torque waveform curve, and the handpiece state is extracted according to the maximum value, minimum value and fluctuation frequency of the torque waveform curve, wherein the handpiece state includes a starting state and a completion state;

[0069] Using an image processing algorithm to perform edge detection and shape recognition on the image data after the screw locking process, extract the screw locking status after the screw locking, and set a corresponding image feature weight for each type of the screw locking status, wherein the screw locking status includes at least qualified, deviation and defective;

[0070] Performing weighted fusion on the handpiece status and the screw locking status, calculating a comprehensive evaluation value based on a fusion algorithm based on Bayesian inference, and determining whether the comprehensive evaluation value is greater than a preset threshold;

[0071] If it is greater, maintain the current action state of the locking head and continue to execute the next locking operation; if it is less than, adjust the parameter information of the locking head until the comprehensive evaluation value is greater than the preset threshold, and the parameter information includes at least torque, angle and speed.

[0072] In this embodiment, the real-time torque data from the locking die reflects the state of the die during the tightening process. The torque waveform provides real-time feedback on the tightening process, including the initial state during tightening, changes during initial tightening, and the stabilization phase during final tightening. By analyzing this data, key parameters such as maximum and minimum values, and fluctuation frequency can be identified. These parameters reflect the normal operating state of the die during the tightening process and whether the ideal tightening level has been achieved. For example, when a screw enters the keyhole and begins tightening, the torque curve should show a gradually rising trend until it reaches the preset torque value. If the curve exhibits abnormal fluctuations, it may mean that the screw is not properly aligned with the keyhole or the clamp is not properly clamping the screw. In this case, the system needs to determine whether the die is in a normal state based on the changes in the torque waveform. The state of the screw after tightening is analyzed using image processing algorithms, including edge detection and shape recognition. Edge detection helps the system identify the screw's contour and determine whether it is correctly positioned, while shape recognition helps confirm whether the screw is fully seated and whether it is skewed or otherwise defective. For example, by capturing images of screws using industrial cameras, it's possible to identify whether the screws have deviated from the intended locking hole position and, through shape analysis, determine whether the threads are misaligned. Furthermore, by weighting image features, the system can assign different weights to different locking states (such as acceptable, deviation, and defective). These weights reflect the importance of each locking state, allowing the system to adjust its decision logic based on the severity of each state during the comprehensive assessment. A comprehensive assessment value is obtained by weighted fusion of real-time torque data and image information. This weighted fusion process relies on the Bayesian inference algorithm, a mathematical method that combines multiple data sources to arrive at the optimal judgment in the presence of uncertainty and ambiguity. Bayesian inference infers the most likely scenario by calculating posterior probabilities based on prior knowledge and new observations. For example, if during a locking process, the torque waveform exhibits significant abnormal fluctuations, and image analysis results indicate significant screw position deviation, the Bayesian inference algorithm will generate a lower comprehensive assessment value based on this information, indicating that the locking process is problematic and requires adjustment. Conversely, if the torque curve is stable and the image processing results indicate normal screw tightening, the comprehensive evaluation value will be high, indicating that the current tightening process is fine and can continue. When the comprehensive evaluation value exceeds the preset threshold, the current tightening head is considered to be operating within the normal range and no adjustments are required, and the next tightening task will proceed directly. If the comprehensive evaluation value is less than the preset threshold, it indicates that there are some deviations or defects in the current tightening operation. Based on the comprehensive evaluation results, the relevant parameters of the tightening head are automatically adjusted. Adjustment parameters include torque, angle, and speed.For example, if the torque value is lower than the predetermined range, it may be because the fixture does not completely clamp the screw, resulting in insufficient tightening force. The system will automatically increase the torque value. If the image detection finds that the screw is out of position, the system will adjust the fixture angle to ensure that the screw can be tightened at the optimal angle. If the tightening speed is too fast, it may cause incomplete tightening of the screw or damage the thread. The system will reduce the speed to ensure the tightening quality.

[0073] In one embodiment, the calculation expression of the comprehensive evaluation value E is: , where E is the final comprehensive evaluation value, which determines whether the locking head needs to adjust its operating parameters; N is the total number of evaluation items, including torque evaluation and image evaluation; is the weight of the evaluation item, which indicates the relative importance of different evaluation items in the comprehensive evaluation; and These are the weighting coefficients for torque data and image data, respectively, which control their relative influence in the evaluation. is the processing result for the i-th torque data point, indicating the torque evaluation value; is the processing result for the i-th image data point, which represents the image evaluation value. In the calculation, multiple torque values are collected within a certain period of time. These data points represent the torque values applied by the machine head to the screw during the locking process. Then, the average value (mean) of these torque data is calculated. This mean reflects the overall torque level. By calculating the deviation between each torque value and the average value (that is, the degree of fluctuation of each data point), it is possible to understand whether the torque data is stable. If the fluctuation is too large, it may indicate that there are unstable factors in the mechanical movement during the locking process, which may cause the screw to not be locked correctly. Calculate the difference between the maximum and minimum values of the torque in the data and compare this difference with the set maximum and minimum torque values. This is to determine whether the fluctuation amplitude of the torque is within the allowable range to avoid fluctuations that are too large or too small. In this way, the system can evaluate whether the fluctuation amplitude exceeds a reasonable range. Finally, a comprehensive evaluation is made of the fluctuations and deviations of all data points. If the fluctuation is found to be too large or the deviation is too far, the system will determine that it is a problem in the locking process, and it may be necessary to adjust the torque setting or check the stability of the mechanical equipment. In the image evaluation value In this example, an industrial camera captures an image of a screw after tightening. When analyzing the image, an edge detection algorithm is used to extract information about the screw edge. The clarity of the screw edge is a key factor in determining whether the tightening is acceptable. Blurred edges may indicate that the screw is not properly tightened or is positioned incorrectly. A shape recognition algorithm is used to analyze whether the screw shape meets predetermined standards. This includes determining whether the screw is complete, aligned with the keyhole, and contains any shape anomalies (such as deflection or deformation). If the screw shape does not conform to the standard, the system determines that the tightening has failed or is unqualified. The image evaluation function also assigns different weights to different images based on their importance. For example, images taken from different angles may contribute differently to determining whether the tightening is successful. The system assigns appropriate weights to each image to adjust its influence in the final evaluation. Ultimately, the edge detection and shape recognition results of each image are combined to produce an overall assessment of the tightening quality. If the majority of images show positional deviation or shape anomalies, the system determines that the tightening has failed; otherwise, it is considered a successful tightening.

[0074] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A two-in-one screw locking machine, characterized in that: include: A chassis (1), wherein a workbench (11) is provided inside the chassis (1), and a support frame (12) is provided on the surface of the workbench (11); A screw feeder (2), the screw feeder (2) being arranged on the side of the workbench (11), comprising a vibrating mechanism (21) and a fixed structure (22), wherein an outlet is arranged on the side of the vibrating mechanism (21), and the fixed structure (22) comprises a rotating disk (221), wherein a plurality of notches (2211) are equidistantly arranged on the side of the rotating disk (221), the notches (2211) of the rotating disk (221) being aligned with the outlet of the vibrating mechanism (21), and the notches (2211) of the rotating disk (221) are used to position screws output from the outlet of the vibrating mechanism (21); A screw locking assembly (3) includes a locking head (31) and a detection structure (32), wherein the locking head (31) is fixedly connected to the detection structure (32), and the locking head (31) and the detection structure (32) are connected to the support frame (12) via a sliding assembly (5); A clamp (4), the clamp (4) comprising a first clamping portion (41), a second clamping portion (42) and a movable portion (43), the first clamping portion (41) being arranged on an upper surface of the movable portion (43), a side portion of the first clamping portion (41) being rotatably connected to the second clamping portion (42), and a side portion of the movable portion (43) being connected to the second clamping portion (42) via a retractable guide rod (44), so that the second clamping portion (42) rotates around a connection between the first clamping portion (41) and the second clamping portion (42); The sliding assembly (5) includes a first slide rail (51), a second slide rail (52) and a third slide rail (53), wherein the first slide rail (51) is fixedly connected to the support frame (12), the second slide rail (52) is slidably connected to the first slide rail (51), so that the second slide rail (52) reciprocates along the first direction on the first slide rail (51), the third slide rail (53) is slidably connected to the second slide rail (52), so that the third slide rail (53) reciprocates along the second direction on the second slide rail (52), the locking machine head (31) and the detection structure (32) are slidably connected to the third slide rail (53), so that the locking machine head (31) and the detection structure (32) reciprocate along the third direction on the third slide rail (53), so that the locking machine head (31) and the detection structure (32) reciprocate in three dimensions on the support frame (12).

2. The two-in-one screw locking machine according to claim 1, characterized in that: The detection structure (32) includes a guide wall (321), the guide wall (321) is connected to the sliding assembly (5), a positioning plate (322) is provided on a side of the guide wall (321) away from the sliding assembly (5), a slope structure (323) is provided on a side of the positioning plate (322) away from the guide wall (321), and a photoelectric switch is provided on the slope structure (323); An extension plate (325) is fixedly connected to the positioning plate (322), an industrial camera (326) is provided on the side of the extension plate (325), a positioning ring (327) is provided at one end of the extension plate (325) away from the positioning plate (322), a first through hole is provided inside the positioning ring (327), a hollow annular structure (328) is provided on the side of the positioning ring (327) close to the industrial camera (326), a plurality of equidistant second through holes are provided on the annular edge of the hollow annular structure (328), a diameter of the first through hole is smaller than the lens diameter of the industrial camera (326), and a hollow portion of the hollow annular structure (328) is larger than the lens diameter of the industrial camera (326).

3. The two-in-one screw locking machine according to claim 2, characterized in that: The locking head (31) includes a driving mechanism (311) and a locking head (312), wherein the driving mechanism (311) is connected to the guide wall (321) via a fourth guide rail, the driving mechanism (311) includes a motor and a connecting shaft, and the motor is connected to the locking head (312) via the connecting shaft. The end of the locking head (312) away from the driving mechanism (311) is provided with a screw receiving groove, the size of the screw receiving groove matches the outer diameter of the screw, and the outer surface of the locking head (312) is provided with an air outlet interface; a rotary bearing (313), the rotary bearing (313) being arranged between the driving mechanism (311) and the locking head (312), and being sleeved on the connecting shaft, the inner ring of the rotary bearing (313) being matched with the outer ring of the connecting shaft, and the outer ring of the rotary bearing (313) being matched with the inner ring of the locking head (312), so that the locking head (312) can rotate around the connecting shaft; A compression spring (314) is provided between the driving mechanism (311) and the rotary bearing (313), and is sleeved on the connecting shaft; a groove corresponding to the compression spring (314) is provided on a side of the rotary bearing (313) close to the driving mechanism (311).

4. The two-in-one screw locking machine according to claim 1, characterized in that: The first clamping portion (41) and the second clamping portion (42) are both composed of multiple rows of round rods (411), the round rods (411) including round shells and round shafts, the round shells in the same row are connected by the round shafts, and the round shafts include multiple layers of circular rings, with gaps between each layer of circular rings; A groove is provided on the side of the movable portion (43), and the groove is used to accommodate a limiting member (46). A first driving member (45) is provided on the inner side of the movable portion (43). The output end of the first driving member (45) is connected to the limiting member (46), so that the limiting member (46) moves back and forth in the groove along the length direction of the movable portion (43), thereby realizing the opening and closing action of the first clamping portion (41) and the second clamping portion (42); The guide rod (44) includes a plurality of rod segments, the ends of which are connected to each other via a connecting member. One end of the guide rod (44) is connected to a side of the second clamping portion (42) close to the movable portion (43), and the other end of the guide rod (44) is connected to a side of the movable portion (43) and to a second driving member (47) inside the movable portion (43) to limit the rotation angle between the guide rod (44) and the movable portion (43), thereby driving the second clamping portion (42) to rotate around the first clamping portion (41).

5. The two-in-one screw locking machine according to claim 1, characterized in that: The vibrating mechanism (21) is provided with a groove inside, the height of the groove matches the diameter of the screw, and the length of the groove is adapted to the feeding path of the screw. The vibrating mechanism (21) includes a plurality of electromagnetic vibrating devices, both ends of the electromagnetic vibrating devices are connected to a power source via a conductive cable, the electromagnetic vibrating devices are fixedly connected to a vibrating plate, and the working port of the electromagnetic vibrating device faces the surface of the vibrating plate, so that the vibrating plate can generate horizontal vibration, driving the screw to advance along the groove toward the outlet; The fixing structure (22) further comprises a fixing plate (222), the rotating disk (221) being embedded in the fixing plate (222), and an arc-shaped limiting block (223) being provided on the upper surface of the fixing plate (222), wherein the arc-shaped limiting block (223) faces the center of the rotating disk (221).

6. The two-in-one screw locking machine according to claim 1, characterized in that: A safety grating (6) is provided on the side of the chassis (1), and the safety grating (6) comprises a plurality of photoelectric grating units. The grating units are provided on the upper portion of the side of the chassis (1), and the ports of the grating units face the outside of the chassis (1); A gas source interface (7) is provided at the bottom of the side of the chassis (1), and comprises a gas connecting pipe and a control valve. The gas connecting pipe is connected to an external gas source via a quick connector. The control valve is provided at the gas source interface (7), and the port of the control valve faces the interior of the chassis (1) and is used to adjust the gas source flow rate.

7. A control method for a two-in-one screw locking machine, used to control the two-in-one screw locking machine according to any one of claims 1 to 6, characterized in that: Including steps: Obtaining the number of screws in a screw feeder, and adjusting a vibration mechanism in the screw feeder to perform a vibration frequency adjustment process based on the number of screws, so that the screws move from the vibration mechanism to a fixed structure; The photoelectric sensor on the fixture acquires the product's dimensional data, matches the coordinates of the dimensional data with the current angle of the fixture, and calculates the optimal clamping angle of the fixture; obtaining positioning information of the screw on the fixing structure, calculating a locking path of a locking head based on the positioning information, product size data, and an optimal clamping angle of a clamp, and controlling the locking head to perform a locking process according to the locking path; Acquiring real-time torque data of the locking head based on a sensor on the locking head, and acquiring image information after locking processing based on a detection structure; A comprehensive evaluation process is performed based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and the locking machine head is adjusted according to the comprehensive evaluation result.

8. The control method of the two-in-one screw locking machine according to claim 7, characterized in that: The steps of obtaining positioning information of the screw on the fixing structure, calculating a locking path of a locking head based on the positioning information, product size data, and an optimal clamping angle of a fixture, and controlling the locking head to perform a locking process according to the locking path include: Performing positioning processing on the positioning information of the screw on the fixed structure, extracting the geometric center coordinates and posture data of the screw, and obtaining a positioning coordinate system of the screw; Converting the positioning coordinate system of the screw to the reference coordinate system of the product to obtain the spatial relationship between the relative position of the screw and the product, thereby correcting the offset of the screw relative to the product; The screw positioning information is rotated and adjusted according to the angle parameters of the fixture to obtain new coordinate information, and it is determined whether the new coordinate information meets the optimal clamping conditions of the fixture. If not, the fixture angle is recalculated and fine-tuned to obtain the optimal clamping angle; The locking path planning process is performed based on the corrected screw positioning information, the product's dimension data, and the optimal clamping angle of the fixture, and the path planning is corrected based on the mobile sensor data to obtain the optimal planned path, and the locking head is controlled to perform locking processing according to the optimal planned path.

9. The control method of the two-in-one screw locking machine according to claim 7, characterized in that: The step of performing comprehensive evaluation processing based on the real-time torque data and image information to obtain a comprehensive evaluation result of the locking state, and adjusting the locking head according to the comprehensive evaluation result includes: The real-time torque data of the locking handpiece is analyzed and processed to obtain a torque waveform curve, and the handpiece state is extracted according to the maximum value, minimum value and fluctuation frequency of the torque waveform curve, wherein the handpiece state includes a starting state and a completion state; Using an image processing algorithm to perform edge detection and shape recognition on the image data after the screw locking process, extract the screw locking status after the screw locking, and set a corresponding image feature weight for each type of the screw locking status, wherein the screw locking status includes at least qualified, deviation and defective; Performing weighted fusion on the handpiece status and the screw locking status, calculating a comprehensive evaluation value based on a fusion algorithm based on Bayesian inference, and determining whether the comprehensive evaluation value is greater than a preset threshold; If it is greater, maintain the current action state of the locking head and continue to execute the next locking operation; if it is less than, adjust the parameter information of the locking head until the comprehensive evaluation value is greater than the preset threshold, and the parameter information includes at least torque, angle and speed.

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